I use to watch this show when it was on CBS that time (1991-92 season I believe). The episodes go up and down in terms of quality in both writing and animation, though they did get away with one of the Biff Tannen's in the past landing in a cart of horse manure, so I will have to give them credit for getting that past Broadcast Standards & Practice.

A "Cafe 80's" would be my ultimate hang-out as long as the Pac-Man machine isn't off limits.

Aside from mentioning death in a history lesson in this episode, one episode I enjoyed for coming clean on the matter was when the guys averted a meteor or something that was going to hit the earth during prehistoric times only to come back to the present and find their world taken over by dinosaurs, all because they prevented their human decendents from evolving after the incident, so they had to go back to rectify the matter, though one of the kids (I think Verne) got all mopey at a dino pal he found that has to be left behind to essentially become decimated by the comet's path, but we learn a lesson because of this episode very well, also getting to see Bill Nye show us how a lemon battery works! I see an old pal of mine wrote the episode that passed away a few years back, it was sad to learn of his passing since he sorta got how to write these cartoons well.
https://www.youtube.com/watch?v=aX8m9aoHsVU
https://www.youtube.com/watch?v=NIqvp903cuU
https://www.youtube.com/watch?v=0cqYCDooSFI

The Bill & Ted cartoon show was OK in the first season when they did have those original actors. The second season switched network and animation studio (Hanna-Barbera did the first season, DiC did the second) and it just didn't do much for me. Of course I enjoyed Evan Dorkin's comic book adaptation of the sequel "Bill & Ted's Bogus Journey" more than the movie itself.

Incidentally, the whole Bill Nye the Science Guy thing had it's genesis on a little known comedy sketch program that aired in Seattle called "Almost Live". I use to watch some of these on Comedy Central in the early 90's and recall the rather cynical way Bill Nye did his experiments on here (nothing like in Back to the Future though he remained mute anyway or in the PBS show). Some players from Almost Live also showed up on the PBS show as well.
https://www.youtube.com/watch?v=W9QwCVBENHM
https://www.youtube.com/watch?v=cK8w_xkMGIg
https://www.youtube.com/watch?v=iLXDirj4JUA
https://www.youtube.com/watch?v=4X-rVrnXBhs

The part about Christopher Lloyd not doing the animated voice of Doc Brown despite showing up in those live-action segments kinda made me think of Yellow Submarine and remembering the Beatles didn't voice their animated counterparts since they declined to do so until it was too late so all they had to do was that live-action bit at the end of the film.